Behaviortree Cache And Optimize

[Naohand]

If I want to load the same tree multiple times, how can I reuse it efficiently

[SteveMacenski]

You can see an example in Nav2 https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp, whereas we only create a new tree instance if the tree requested is different and/or the application specifically requests a new instance of the tree to be loaded. Otherwise, the same tree is used each time.